Study on intelligent welding mobile robot with the function of auto-searching weld line

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Study on intelligent welding mobile robot with the function of auto-searching weld line

Ke, Zhang / LÜ, Xueqin / Guang, Sun / Wu, Yixiong

The development of welding robots suitable for specially unstructured working enviroments has been become an important development direction of industrial robot application because large-scale welding structures have been used more and more widely in modern industry. In this paper, an intelligent mobile robot for welding of ship deck with the function of auto-searching weld line was presented. A wheeled motion mechanism and a cross adjustment slider are used for the welding robot body. A sensing system based on laser-PSD (position sensitive detector) displacement sensor was developed to obtain two dimensional deviation signals during seam tracking. A full-digital control system based on digital signal processor (DSP) and CPLD has also been realized to implement complex and high-performance control algorithms. Furthermore, the system has still the function of auto-searching weld line according to the characteristics information of weld groove and adjusting posture itself to the desired status preparing for welding. Auto-searching weld line is that a welding mobile robot can automatically recognize a weld groove according to the characteristics of the weld groove before welding, and then adjust its own posture to the desired status ready for welding, namely, the robot body is in parallel to the weld line and the welding torch points to the center of the weld groove. The experiment of auto-searching welding line shows that the robot has high tracing accuracy, and can satisfy the requirement of practical welding project.